Adaptive robust control of bilateral teleoperation systems with unmeasurable environmental force and arbitrary time delays

2014 ◽  
Vol 8 (15) ◽  
pp. 1456-1464 ◽  
Author(s):  
Zheng Chen ◽  
Ya-Jun Pan ◽  
Jason Gu
Keyword(s):  
Robust Control ◽  
Time Delays ◽  
Adaptive Robust Control ◽  
Bilateral Teleoperation ◽  
Arbitrary Time ◽  
Environmental Force ◽  
Teleoperation Systems

Transparent four-channel bilateral control architecture using modified wave variable controllers under time delays

Robotica ◽  
2014 ◽  
Vol 34 (4) ◽  
pp. 859-875 ◽  
Author(s):  
Da Sun ◽  
Fazel Naghdy ◽  
Haiping Du
Keyword(s):  
Time Delays ◽  
Large Time ◽  
Wave Transformation ◽  
Bilateral Teleoperation ◽  
Bilateral Control ◽  
Wave Variable ◽  
Guarantee System ◽  
Remote Environment ◽  
The Stability ◽  
Teleoperation Systems

SUMMARYStability and transparency are two critical indices of bilateral teleoperation systems. The wave variable method is a conservative approach to robustly guarantee system passivity under arbitrary constant time delays. However, the wave-variable-based reflection is an intrinsic problem in this method because it can significantly degrade system transparency and disorient the operator's perception of the remote environment. In order to enhance both the transparency and the stability of bilateral teleoperation systems in the presence of large time delays, a new four-channel (4-CH) architecture is proposed which applies two modified wave-transformation controllers to reduce wave-based reflections. Transparency and stability of the proposed system are analyzed and the improvement in these when using this method is measured experimentally. Results clearly demonstrate that the proposed method can produce high transparency and stability even in the presence of large time delays.

scholarly journals Extending model-mediation method to multi-degree-of-freedom teleoperation systems experiencing time delays in communication

Robotica ◽  
2015 ◽  
Vol 35 (5) ◽  
pp. 1121-1136 ◽  
Author(s):  
Emre Uzunoğlu ◽  
Mehmet İsmet Can Dede
Keyword(s):  
Time Delays ◽  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Test Results ◽  
Bilateral Teleoperation ◽  
Extended Version ◽  
Teleoperation System ◽  
Teleoperation Systems ◽  
Three Degrees Of Freedom

SUMMARYIn this study, a bilateral teleoperation control algorithm is developed in which the model-mediation method is integrated with an impedance controller. The model-mediation method is also extended to three-degrees-of-freedom teleoperation. The aim of this controller is to compensate for instability issues and excessive forcing applied to the slave environment stemming from time delays in communication. The proposed control method is experimentally tested with two haptic desktop devices. Test results indicate that stability and passivity of the bilateral teleoperation system is preserved under variable time delays in communication. It is also observed that safer interactions of the slave system with its environment can be achieved by utilizing an extended version of the model-mediation method with an impedance controller.

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